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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-13 09:08:16 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-13 09:08:16 +0200 |
commit | 3f63b67eb66b44524b74847696a65d7a531d73d6 (patch) | |
tree | bf4954fb553edb1d9e200899ed531efa87505a90 /src/modules/navigator/mission.cpp | |
parent | ee42d5f53d81580bee56b1cdcf69ebfdefb6ba09 (diff) | |
parent | fd435532b50428d7aab452d19db1d9c93f47dd5c (diff) | |
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Merged master into vision_estimate
Diffstat (limited to 'src/modules/navigator/mission.cpp')
-rw-r--r-- | src/modules/navigator/mission.cpp | 4 |
1 files changed, 4 insertions, 0 deletions
diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index 12f6b9c21..c0e37a3ed 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -273,6 +273,10 @@ Mission::check_dist_1wp() if (dist_to_1wp < _param_dist_1wp.get()) { _dist_1wp_ok = true; + if (dist_to_1wp > ((_param_dist_1wp.get() * 3) / 2)) { + /* allow at 2/3 distance, but warn */ + mavlink_log_critical(_navigator->get_mavlink_fd(), "Warning: First waypoint very far: %d m", (int)dist_to_1wp); + } return true; } else { |